Author

J. Xu

2 papers indexed here

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Preprint Oct 2026

EgoCPT: Learning Dexterous Manipulation from a Single Ego-Centric Video with Contact-Aware Optimization

While expert demonstrations on real robots are difficult to collect, human ego-centric videos are easy to collect and abundant on the internet. However, learning dexterous manipulation policies from human videos remains challenging---one of the most important challenges being the difficulty of reconstructing physically...

Zhi-Xin Sun, Kai-Rui Shi, Tian-Ao Ren et al. · 1 citation

Preprint Sep 2026

HapticWorld: an Interactive World Simulator with Real-time Torque Feedback

HapticWorld is presented, an interactive world simulator that predicts joint torque together with observations and renders it back to the operator in real time, closing the haptic loop between a human and a learned world model and demonstrating that HapticWorld can serve as a stand-alone F/T-conditioned policy evaluati...

Shao-Ting Peng, Li-Tian Liang, Yixuan Wang et al. · 0 citations